where \(\omega _1\)  and \(\omega _2\)  are the weights of coarse depth estimation loss and stereo matching loss respectively. For the optimization on the first stage coarse estimation, we use inverse Huber (berHu) loss as proposed in [1]}:
\(\mathcal {L}_{coarse} = \frac{1}{\Omega } \sum _{i\in \Omega } \mathcal {L}_{berHu}(d_{i},\;\;d_{i}^*) \\\) 
